https://github.com/cmower/fri-client-sdk_cpp
KUKA Fast Robot Interface C++ SDK. Provides a CMake alternative to building the FRI Library.
https://github.com/cmower/fri-client-sdk_cpp
Last synced: 9 months ago
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KUKA Fast Robot Interface C++ SDK. Provides a CMake alternative to building the FRI Library.
- Host: GitHub
- URL: https://github.com/cmower/fri-client-sdk_cpp
- Owner: cmower
- Created: 2023-04-28T20:06:00.000Z (over 2 years ago)
- Default Branch: master
- Last Pushed: 2024-04-15T12:16:24.000Z (over 1 year ago)
- Last Synced: 2025-03-27T06:46:21.473Z (9 months ago)
- Language: CMake
- Homepage:
- Size: 1.65 MB
- Stars: 6
- Watchers: 4
- Forks: 1
- Open Issues: 2
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# FRI-Client-SDK_Cpp
This repo contains the FRI client SDK provided by KUKA for LBR models.
A cmake alternative for building the client and examples is provided to easily integrate it into other projects.
To browse the source code for the `FRI-Client-SDK_Cpp_v*.zip` files, see the other branches of this repository.
# Important notice
**THIS IS NOT A KUKA PRODUCT.**
[@cmower](https://github.com/cmower) is not affiliated with KUKA.
The two zip files
- `FRI-Client-SDK_Cpp_v1.15.zip`
- `FRI-Client-SDK_Cpp_v2.5.zip`
are as provided by KUKA with LRB robots (both originally named `FRI-Client-SDK_Cpp.zip`).
The code contained in each zip file is unchanged.
When using the CMake build option (see instructions below), a file called `fri_config.h` is generated and copied to the unzipped `fri/include/` directory so it is publically available.
This does not affect the code provided by KUKA in any way, it is simply there to specify a MACRO called `FRI_VERSION` which is used to indicate the version of FRI being built.
# Support
The following versions of FRI are currently supported:
* 1.15
* 2.5
If you have a different version, please consider [forking](https://github.com/cmower/FRI-Client-SDK_Cpp/fork) and [submitting a pull request](https://github.com/cmower/FRI-Client-SDK_Cpp/pulls).
# Build
There are several options for building.
You can either use the options provided by KUKA or the `CMakeLists.txt` provided here.
## Building using methods provided by KUKA
Unzip the FRI client SDK, and follow the instructions in the `Readme.txt` file.
## Use CMake
**Note**, you do not need to unzip the `.zip` file (this is done automatically).
1. Clone repo:
- (ssh) `$ git clone git@github.com:cmower/FRI-Client-SDK_Cpp.git`
- (https) `$ git clone https://github.com/cmower/FRI-Client-SDK_Cpp.git`
2. Change directory: `$ cd FRI-Client-SDK_Cpp`
3. Create a build directory: `$ mkdir build`
4. Change directory: `$ cd build`
5. Run cmake: `$ cmake -DFRI_VERSION=[VER] ..`
- You **must** specify the FRI version that you want to build. See the "*Support*" section above for supported versions.
- Note, optionally you can build the examples by using the flag `cmake -DFRI_BUILD_EXAMPLES=[ON/OFF] ..`. Default is `ON`.
6. Build: `$ cmake --build .`
The build directory now contains the built library `libFRIClient.a` and if `-DFRI_BUILD_EXAMPLES=ON` also the example executables.
# Usage
## Java application
A flexible Java application is provided [here](https://github.com/cmower/LBR-Java-app).
This must be installed on the KUKA Sunrise controller.